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px4-firmware
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Merge pull request #366 from julianoes/python3_compat 

Make px_mkfw.py and px_upload.py compatible with both python 2.7 and 3.3
This commit is contained in:
Lorenz Meier 2013-09-04 06:25:10 -07:00
parent 0c7995fd03 d30ba44f46
commit a022a3800c
2 changed files with 73 additions and 34 deletions
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8
Tools/px_mkfw.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -60,7 +60,7 @@ def mkdesc():
proto['description'] = ""
proto['git_identity'] = ""
proto['build_time'] = 0
proto['image'] = base64.b64encode(bytearray())
proto['image'] = bytes()
proto['image_size'] = 0
return proto
@ -99,12 +99,12 @@ if args.description != None:
if args.git_identity != None:
cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"])
p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
desc['git_identity'] = p.read().strip()
desc['git_identity'] = str(p.read().strip())
p.close()
if args.image != None:
f = open(args.image, "rb")
bytes = f.read()
desc['image_size'] = len(bytes)
desc['image'] = base64.b64encode(zlib.compress(bytes,9))
desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
print(json.dumps(desc, indent=4))

99
Tools/px_uploader.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -102,7 +102,7 @@ class firmware(object):
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
crcpad = bytearray('\xff\xff\xff\xff')
crcpad = bytearray(b'\xff\xff\xff\xff')
def __init__(self, path):
@ -137,34 +137,40 @@ class uploader(object):
'''Uploads a firmware file to the PX FMU bootloader'''
# protocol bytes
INSYNC = chr(0x12)
EOC = chr(0x20)
INSYNC = b'\x12'
EOC = b'\x20'
# reply bytes
OK = chr(0x10)
FAILED = chr(0x11)
INVALID = chr(0x13) # rev3+
OK = b'\x10'
FAILED = b'\x11'
INVALID = b'\x13' # rev3+
# command bytes
NOP = chr(0x00) # guaranteed to be discarded by the bootloader
GET_SYNC = chr(0x21)
GET_DEVICE = chr(0x22)
CHIP_ERASE = chr(0x23)
CHIP_VERIFY = chr(0x24) # rev2 only
PROG_MULTI = chr(0x27)
READ_MULTI = chr(0x28) # rev2 only
GET_CRC = chr(0x29) # rev3+
REBOOT = chr(0x30)
NOP = b'\x00' # guaranteed to be discarded by the bootloader
GET_SYNC = b'\x21'
GET_DEVICE = b'\x22'
CHIP_ERASE = b'\x23'
CHIP_VERIFY = b'\x24' # rev2 only
PROG_MULTI = b'\x27'
READ_MULTI = b'\x28' # rev2 only
GET_CRC = b'\x29' # rev3+
REBOOT = b'\x30'
INFO_BL_REV = chr(1) # bootloader protocol revision
INFO_BL_REV = b'\x01' # bootloader protocol revision
BL_REV_MIN = 2 # minimum supported bootloader protocol
BL_REV_MAX = 4 # maximum supported bootloader protocol
INFO_BOARD_ID = chr(2) # board type
INFO_BOARD_REV = chr(3) # board revision
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
INFO_BOARD_ID = b'\x02' # board type
INFO_BOARD_REV = b'\x03' # board revision
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes
PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4
READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64
NSH_INIT = bytearray(b'\x0d\x0d\x0d')
NSH_REBOOT_BL = b"reboot -b\n"
NSH_REBOOT = b"reboot\n"
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x48\xf0')
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x80\x3f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xd7\xac')
def __init__(self, portname, baudrate):
# open the port, keep the default timeout short so we can poll quickly
@ -176,7 +182,7 @@ class uploader(object):
def __send(self, c):
# print("send " + binascii.hexlify(c))
self.port.write(str(c))
self.port.write(c)
def __recv(self, count=1):
c = self.port.read(count)
@ -192,9 +198,9 @@ class uploader(object):
def __getSync(self):
self.port.flush()
c = self.__recv()
if c is not self.INSYNC:
raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
c = bytes(self.__recv())
if c != self.INSYNC:
raise RuntimeError("unexpected %s instead of INSYNC" % c)
c = self.__recv()
if c == self.INVALID:
raise RuntimeError("bootloader reports INVALID OPERATION")
@ -249,17 +255,29 @@ class uploader(object):
# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data):
self.__send(uploader.PROG_MULTI
+ chr(len(data)))
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.PROG_MULTI)
self.__send(length)
self.__send(data)
self.__send(uploader.EOC)
self.__getSync()
# verify multiple bytes in flash
def __verify_multi(self, data):
self.__send(uploader.READ_MULTI
+ chr(len(data))
+ uploader.EOC)
if runningPython3 == True:
length = len(data).to_bytes(1, byteorder='big')
else:
length = chr(len(data))
self.__send(uploader.READ_MULTI)
self.__send(length)
self.__send(uploader.EOC)
self.port.flush()
programmed = self.__recv(len(data))
if programmed != data:
@ -350,7 +368,24 @@ class uploader(object):
print("done, rebooting.")
self.__reboot()
self.port.close()
def send_reboot(self):
# try reboot via NSH first
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT_BL)
self.__send(uploader.NSH_INIT)
self.__send(uploader.NSH_REBOOT)
# then try MAVLINK command
self.__send(uploader.MAVLINK_REBOOT_ID1)
self.__send(uploader.MAVLINK_REBOOT_ID0)
# Detect python version
if sys.version_info[0] < 3:
runningPython3 = False
else:
runningPython3 = True
# Parse commandline arguments
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
@ -397,7 +432,11 @@ while True:
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
except:
# most probably a timeout talking to the port, no bootloader
# most probably a timeout talking to the port, no bootloader, try to reboot the board
print("attempting reboot on %s..." % port)
up.send_reboot()
# wait for the reboot, without we might run into Serial I/O Error 5
time.sleep(1.5)
continue
try: